1. The Empirical Process
- at the very core of agile everything
Daniel Brolund
@danielbrolund
daniel.brolund@agical.com

2. Lets start with an exercise!
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

3. Lets start with an exercise!
Drop-
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

4. Lets start with an exercise!
Drop-
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

5. Lets start with an exercise!
Robot
Drop-
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

6. Lets start with an exercise!
Controller
Robot
Drop-
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

7. Lets start with an exercise!
↑
Controller
Robot
↑
Drop-
P
zone
↑
D
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

8. Lets start with an exercise!
Goal: Max nr of paper
balls in dropzone!
↑
Controller
Robot
↑
Drop-
P
zone
↑
D
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

9. Discussion - groups of 4-6
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

10. Discussion - groups of 4-6
What happened?
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

11. An everyday empirical process...
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

12. An everyday empirical process...
Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

13. An everyday empirical process...
Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

14. An everyday empirical process...
Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

15. An everyday empirical process...
Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

16. An everyday empirical process...
Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

17. An everyday empirical process...
Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

18. An everyday empirical process...
Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

19. An everyday empirical process...
Do I jump in...?
Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

20. An everyday empirical process...
Do I jump in...?
Schematic: Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

21. An everyday empirical process...
Do I jump in...?
Desired
Schematic: Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

22. An everyday empirical process...
Do I jump in...?
Desired
Schematic: Me
Desired
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

23. An everyday empirical process...
Do I jump in...?
Desired
Controller
Schematic: Me
Desired
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

24. An everyday empirical process...
Do I jump in...?
Desired
Controller
Schematic: Me
Desired
Controller
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

25. An everyday empirical process...
Do I jump in...?
Desired
Controller
System
input
Schematic: Me
Desired
Controller
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

26. An everyday empirical process...
Do I jump in...?
Desired
Controller
System
input
Schematic: Me
System
Desired input
Controller
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

27. An everyday empirical process...
Do I jump in...?
Desired
System
Controller
System
input
Schematic: Me
System
Desired input
Controller
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

28. An everyday empirical process...
Do I jump in...?
Desired
System
Controller
System
input
Schematic: Me
System
Desired input
Controller System
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

29. An everyday empirical process...
Do I jump in...?
Desired
System
Controller Actual
System
input
Schematic: Me
System
Desired input
Controller System
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

30. An everyday empirical process...
Do I jump in...?
Desired
System
Controller Actual
System
input
Schematic: Me
System
Desired input Actual
Controller System
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

31. An everyday empirical process...
Do I jump in...?
Desired
Actual==Desired ?
System
Controller Actual
System
input
Schematic: Me
System
Desired input Actual
Controller System
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

32. An everyday empirical process...
Do I jump in...?
Desired
Actual==Desired ?
System
Controller Actual
System
input
Schematic: Me
System
Temp
Desired input Actual
Controller System
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

33. An everyday empirical process...
Do I jump in...?
Desired
Actual==Desired ?
System
Controller Actual
System
input
Schematic: Me
System
Temp
Desired input Actual
Controller System
Desired
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

34. An everyday empirical process...
Do I jump in...?
Desired
Actual==Desired ?
System
Controller Actual
System
input
Schematic: Me
System
Temp
Desired input Actual
Controller System
Desired
Actual
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

35. An everyday empirical process...
Do I jump in...?
Desired
Actual==Desired ?
System
Controller Actual
System
input
Schematic: Me
System
Temp
Desired input Actual
Controller System
Desired
Actual
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

36. An everyday empirical process...
Do I jump in...?
Desired
Actual==Desired ?
System
Controller Actual
System
input
Schematic: Me
System
Temp
Desired input Actual
Controller System
Desired
Actual
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

37. An everyday empirical process...
Do I jump in...?
Desired
Actual==Desired ?
System
Controller Actual
System
input
Schematic: Me
System
Temp
Desired input Actual
Controller System
Desired
Actual
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

38. An everyday empirical process...
Do I jump in...?
Desired
Actual==Desired ?
System
Controller Actual
System
input
Schematic: Me
System
Temp
Desired input Actual
Controller System
?
Desired
Actual
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

39. An everyday empirical process...
Do I jump in...?
Desired
Actual==Desired ?
System
Controller Actual
System
input
Schematic: Me
System
Temp
Desired input Actual
Controller System
Desired
Actual Robot
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

40. What is the control error?
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

41. What is the control error?
Temp
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

42. What is the control error?
Temp
Desired
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

43. What is the control error?
Temp
Desired
Actual
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

44. What is the control error?
Temp
Desired
Actual
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

45. What is the control error?
Temp
"Error surface"
Desired
Actual
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

46. What is the control error?
Temp
"Error surface"
Desired
Actual
Time
Control Error = ∫|Desired-Actual|
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

47. What is the control error?
Temp
"Error surface"
Desired
Actual
Time
Control Error = ∫|Desired-Actual|
Control error
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

48. What is the control error?
Temp
"Error surface"
Desired
Actual
Time
Control Error = ∫|Desired-Actual|
Control error
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

49. What is the control error?
Temp
"Error surface"
Desired
Actual
Time
Control Error = ∫|Desired-Actual|
Control error
∞
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

50. The "simplistic" solution
System
Desired input Actual
Controller System
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

51. The "simplistic" solution
System
-1
Desired
Controller
input
System
Actual Controller=(System)
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

52. The "simplistic" solution
System
-1
Desired
Controller
input
System
Actual Controller=(System)
Desired = Actual
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

53. The "simplistic" solution
System
-1
Desired
Controller
input
System
Actual Controller=(System)
Desired = Actual
Requires:
- detailed knowledge of System, Desired and hence Actual
- that such a Controller exists and can create such System input
- that the System can handle System input
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

54. The "simplistic" solution
ε
Errors
System
-1
Desired
Controller
input
System
Actual Controller=(System)
Desired = Actual
Requires:
- detailed knowledge of System, Desired and hence Actual
- that such a Controller exists and can create such System input
- that the System can handle System input
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

55. The "simplistic" solution
ε
Errors
System
-1
Desired
Controller
input
System
Actual Controller=(System)
∞ Desired = Actual
"Unlimited"
energy
Requires:
- detailed knowledge of System, Desired and hence Actual
- that such a Controller exists and can create such System input
- that the System can handle System input
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

56. The "simplistic" solution
ε
Errors
System
-1
Desired
Controller
input
System
Actual Controller=(System)
Change ∞ Desired = Actual
"Unlimited"
energy
Requires:
- detailed knowledge of System, Desired and hence Actual
- that such a Controller exists and can create such System input
- that the System can handle System input
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

57. The "simplistic" solution
Complexity System
ε
Errors
-1
Desired
Controller
input
System
Actual Controller=(System)
Change ∞ Desired = Actual
"Unlimited"
energy
Requires:
- detailed knowledge of System, Desired and hence Actual
- that such a Controller exists and can create such System input
- that the System can handle System input
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

58. The "simplistic" solution
Complexity System
ε
Errors
-1
Desired
Controller
input
System
Actual Controller=(System)
Change ∞ Desired = Actual
"Unlimited"
energy
Won't work in reality
Requires:
- detailed knowledge of System, Desired and hence Actual
- that such a Controller exists and can create such System input
- that the System can handle System input
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

59. Exercise 2
Controller
Drop-
zone
Robot
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

60. Exercise 2
As before, but now
only one step at a time!
Controller
Drop-
zone
Robot
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

61. Exercise 2
As before, but now
only one step at a time!
↑
Controller
Drop-
zone
Robot
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

62. Exercise 2
As before, but now
only one step at a time!
↑
Controller
Drop-
zone
Robot
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

63. Exercise 2
As before, but now
only one step at a time!
↑
Controller
↑
Drop-
zone
Robot
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

64. Exercise 2
As before, but now
only one step at a time!
↑
Controller
↑
Drop-
P
zone
Robot
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

65. Exercise 2
As before, but now
only one step at a time!
↑
Controller
↑
Drop-
P
zone
Robot
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

66. Exercise 2
As before, but now
only one step at a time!
↑
Controller
↑
Drop-
P
zone
↑
Robot
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

67. Exercise 2
As before, but now
only one step at a time!
↑
Controller
↑
Drop-
P
zone
↑
Robot
D
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

68. Discussion - groups of 4-6
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

69. Discussion - groups of 4-6
What happened this time?
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

70. Adding feedback!
Desired
System
Controller Actual
System
input
Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

71. Adding feedback!
Desired
System
Controller Actual
System
input
Schematic: Me
System
Desired input Actual
Controller System
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

72. Adding feedback!
Desired
System
Controller Actual
System
input
Schematic: Me
System
Desired input Actual
Controller System
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

73. Adding feedback!
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
Desired input Actual
Controller System
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

74. Adding feedback!
Observed
result
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
Desired input Actual
Controller System
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

75. Adding feedback!
Observed
result
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
Desired input Actual
Controller System
Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

76. Adding feedback!
Observed
result
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
-
Desired Error input Actual
Controller System
Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

77. Adding feedback!
Observed
result
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
-
Desired Error input Actual
Controller System
Feed-back or Closed-loop system
Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

78. Adding feedback!
Observed
result
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
Temp
-
Desired Error input Actual
Controller System
Feed-back or Closed-loop system
Observed result
Sensor
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

79. Adding feedback!
Observed
result
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
Temp
-
Desired Error input Actual
Controller System
Desired
Feed-back or Closed-loop system
Observed result
Sensor
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

80. Adding feedback!
Observed
result
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
Temp
-
Desired Error input Actual
Controller System
Desired
Feed-back or Closed-loop system
Observed result Actual
Sensor
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

81. Adding feedback!
Observed
result
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
Temp
-
Desired Error input Actual
Controller System
Desired
Feed-back or Closed-loop system
Observed result Actual
Sensor
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

82. What is the control error now?
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

83. What is the control error now?
Temp
Desired
Actual
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

84. What is the control error now?
Temp
Desired
Actual
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

85. What is the control error now?
Temp
Desired
Actual
Control Error = ∫|Desired-Actual|
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

86. What is the control error now?
Temp
Desired
Actual
Control Error = ∫|Desired-Actual|
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

87. What is the control error now?
Temp
Desired
Actual
Control Error = ∫|Desired-Actual|
Control error
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

88. What is the control error now?
Temp
Desired
Actual
Control Error = ∫|Desired-Actual|
Control error
Actual
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

89. What is the control error now?
Temp
Desired
Actual
Control Error = ∫|Desired-Actual|
Control error
Actual bounded!!
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

90. In software: There are many feedback loops at play!
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

91. In software: There are many feedback loops at play!
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

92. In software: There are many feedback loops at play!
Live user feedback/release
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

93. In software: There are many feedback loops at play!
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

94. In software: There are many feedback loops at play!
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

95. In software: There are many feedback loops at play!
Retrospective
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

96. In software: There are many feedback loops at play!
Whiteboard discussions
Retrospective
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

97. In software: There are many feedback loops at play!
Daily stand-up
Whiteboard discussions
Retrospective
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

98. In software: There are many feedback loops at play!
Daily stand-up
Whiteboard discussions
Retrospective
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

99. In software: There are many feedback loops at play!
ATDD
Daily stand-up
Whiteboard discussions
Retrospective
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

100. In software: There are many feedback loops at play!
TDD
ATDD
Daily stand-up
Whiteboard discussions
Retrospective
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

101. In software: There are many feedback loops at play!
TDD
ATDD
Daily stand-up
Whiteboard discussions
Retrospective
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

102. In software: There are many feedback loops at play!
Pairing
TDD
ATDD
Daily stand-up
Whiteboard discussions
Retrospective
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

103. In software: There are many feedback loops at play!
Compilation Pairing
TDD
ATDD
Daily stand-up
Whiteboard discussions
Retrospective
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

104. In software: There are many feedback loops at play!
Squiggles Compilation Pairing
TDD
ATDD
Daily stand-up
Whiteboard discussions
Retrospective
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

105. In software: There are many feedback loops at play!
Squiggles Compilation Pairing
TDD
ATDD
Daily stand-up
...AND MANY MORE!
Whiteboard discussions
Retrospective
Live user feedback/release Usability tests
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

106. Exercise 3: Draw your own feedback loops
TDD 10s
Retros 1w
Release 1m
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

107. Exercise 4
Controller
Robot
Drop-
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

108. Exercise 4
As before, but now
now three steps at a
time!
Controller
Robot
Drop-
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

109. Exercise 4
As before, but now
now three steps at a
↑
time!
Controller
Robot
Drop-
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

110. Exercise 4
As before, but now
now three steps at a
↑
time!
Controller
Robot
Drop-
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

111. Exercise 4
As before, but now
now three steps at a
↑
time!
Controller
Robot
↑
Drop-
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

112. Exercise 4
As before, but now
now three steps at a
↑
time!
Controller
Robot
↑
Drop-
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

113. Exercise 4
As before, but now
now three steps at a
↑
time!
Controller
Robot
↑
Drop-
P
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

114. Exercise 4
As before, but now
now three steps at a
↑
time!
Controller
Robot
↑
Drop-
P
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

115. Exercise 4
As before, but now
now three steps at a
↑
time!
Controller
Robot
↑
Drop-
P
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

116. Exercise 4
As before, but now
now three steps at a
↑
time!
Controller
Robot
↑
Drop-
P
zone
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

117. Exercise 4
As before, but now
now three steps at a
↑
time!
Controller
Robot
↑
Drop-
P
zone
↑
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

118. Exercise 4
As before, but now
now three steps at a
↑
time!
Controller
Robot
↑
Drop-
P
zone
↑
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

119. Exercise 4
As before, but now
now three steps at a
↑
time!
Controller
Robot
↑
Drop-
P
zone
↑
D
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

120. Discussion - groups of 4-6
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

121. Discussion - groups of 4-6
What happened this time?
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

122. The impact of delay
Desired
System
Sensor
Controller Actual
System
input
Me
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

123. The impact of delay
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
-
Desired Error input Actual
Controller System
Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

124. The impact of delay
Delay
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
-
Desired Error input Actual
Controller System
Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

125. The impact of delay
Delay
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
-
Desired Error input Actual
Controller System Delay
Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

126. The impact of delay
Delay
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
Temp
-
Desired Error input Actual
Controller System Delay
Observed result
Sensor
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

127. The impact of delay
Delay
Desired
System
Sensor
Controller Actual
System
input
Schematic: Me
System
Temp
-
Desired Error input Actual
Controller System Delay
Desired
Observed result
Sensor
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

128. The impact of delay
Delay
Desired
System
Sensor
Tap temp
Controller Actual
System
input
Schematic: Me
System
Temp
-
Desired Error input Actual
Controller System Delay
Desired
Observed result
Sensor
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

129. The impact of delay
Delay
Desired
System
Sensor
Tap temp
Controller Actual
System
input
Schematic: Me
System Tap temp
Temp
-
Desired Error input Actual
Controller System Delay
Desired
Observed result
Sensor
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

130. The impact of delay
Delay
Desired
System
Sensor
Tap temp
Controller Actual
System
input
Schematic: Me
System Tap temp
Temp
-
Desired Error input Actual
Controller System Delay
Desired
Tap temp
Observed result
Sensor
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

131. The impact of delay
Delay
Desired
System
Sensor
Tap temp
Controller Actual
System
input
Schematic: Me
System Tap temp
Temp
-
Desired Error input Actual
Controller System Delay
Desired
Tap temp
Observed result Observed
Sensor
result
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

132. The impact of delay
Delay
Desired
System
Sensor
Tap temp
Controller Actual
System
input
Schematic: Me
System Tap temp
Temp
-
Desired Error input Actual
Controller System Delay
Desired
Tap temp
Observed result Observed
Sensor
result
Time
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

133. Delay considerations
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

134. Delay considerations
Temp
Desired
Tap temp
Observed
result
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

135. Delay considerations
Temp delay > half of required
cycletime
Desired
Tap temp
Observed Guaranteed instability!
result (in practice, instability comes earlier)
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

136. Delay considerations
Temp delay > half of required
cycletime
Desired
Tap temp
Observed Guaranteed instability!
result (in practice, instability comes earlier)
It often takes about 5-10 times
the delay to tune the system
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

137. More delay considerations
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

138. More delay considerations
System
input
-
Desired Error Actual
Controller System
Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

139. More delay considerations
System
input
-
Desired Error Actual
Delay position in Controller System
loop is irrelevant
w.r.t. instability! Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

140. More delay considerations
System
input
-
Desired Error Actual
Delay position in Controller System Delay
loop is irrelevant
w.r.t. instability! Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

141. More delay considerations
System
input
-
Desired Error Actual
Delay position in Controller System
loop is irrelevant
w.r.t. instability! Observed result
Sensor Delay
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

142. More delay considerations
System
input
-
Desired Error Actual
Delay position in Controller System
loop is irrelevant
w.r.t. instability! Observed result
Delay Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

143. More delay considerations
System
input
-
Desired Error Actual
Delay position in Delay Controller System
loop is irrelevant
w.r.t. instability! Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

144. More delay considerations
System
input
-
Desired Error Actual
Delay position in Controller Delay System
loop is irrelevant
w.r.t. instability! Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

145. Feedback delay considerations
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

146. Feedback delay considerations
Feedback cycle-time sweet-
spots are different due to
processing and delays
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

147. Feedback delay considerations
Feedback cycle-time sweet-
spots are different due to
processing and delays
slower that
desired change
Unstable
system
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

148. Feedback delay considerations
Feedback cycle-time sweet-
spots are different due to
processing and delays
slower that faster than desired
desired change change
Unstable Controller
system overloaded or too
expensive
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

149. Feedback delay considerations
Feedback cycle-time sweet-
spots are different due to
processing and delays
slower that faster than desired
desired change change
inner
Unstable Controller
or ten
system overloaded or too
expensive
want to sh re ou ter!
You loops befo
feed bac k
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

150. Observability and controllability
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

151. Observability and controllability
-
Desired Actual
Controller System
System
Error
input
Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

152. Observability and controllability
Uncontrollable
-
Desired Actual
Controller System
System
Error
input
Observed result
Sensor
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

153. Observability and controllability
Uncontrollable
-
Desired Actual
Controller System
System
Error
input
Observed result
Sensor
Unobservable
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

154. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

155. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

156. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Water temperature
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

157. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Water temperature
Flow
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

158. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Water temperature
Flow Acidity
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

159. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Water temperature
Flow Acidity
Mineral traces
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

160. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Water temperature
Flow Acidity
Mineral traces
Radioactivity
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

161. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Water temperature
Flow Acidity SW
Mineral traces
Radioactivity
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

162. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Water temperature
Flow Acidity SW Lines of code
Mineral traces
Radioactivity
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

163. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Water temperature
Flow Acidity SW Lines of code
Unit test results
Mineral traces
Radioactivity
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

164. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Water temperature
Flow Acidity SW Lines of code
Unit test results
Mineral traces ROI
Radioactivity
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

165. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Water temperature
Flow Acidity SW Lines of code
Unit test results
Mineral traces ROI Acceptance test results
Radioactivity
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com

166. Observability and controllability
Uncontrollable
The Sensor has to
- measure
Desired Actual
Controller System
Error
System
input
a relevant state
(observability) that the
Observed result
Sensor Controller
can influence
Unobservable
(controllability).
Water temperature
Flow Acidity SW Lines of code
Unit test results
Mineral traces ROI Acceptance test results
Radioactivity Nr of checkins
Daniel Brolund — @danielbrolund — daniel.brolund@agical.com